Integrable Whole-body Orientation Coordinates for Legged Robots

被引：2

作者：

Chen, Yu-Ming ^{[1
,3
]}

Nelson, Gabriel ^{[2
,3
]}

Griffin, Robert ^{[4
]}

Posa, Michael ^{[1
]}

Pratt, Jerry ^{[3
,4
]}

机构：

[1] Univ Penn, Gen Robot Automat Sensing & Percept GRASP Lab, Philadelphia, PA 19104 USA

[2] Boston Dynam Artificial Intelligence Inst, 145 Broadway, Cambridge, MA 02142 USA

[3] Boardwalk Robot, 417 E Zaragoza St, Pensacola, FL 32502 USA

[4] Florida Inst Human & Machine Cognit IHMC, 40 S Alcaniz St, Pensacola, FL 32502 USA

来源：

2023 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2023年

关键词：

LOCOMOTION; DYNAMICS;

D O I：

10.1109/IROS55552.2023.10341531

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a whole-body orientation that (i) depends on system configuration only and not a history of motion, (ii) can be representative of the orientation of the entire system while not being attached to any specific link, and (iii) has a rate of change that approximates total system angular momentum. We relate this orientation coordinate to past work, and discuss and demonstrate, including on hardware, several different uses for it.

引用

页码：10440 / 10447

页数：8

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